Revision 3:634166991b10, committed 2021-12-10

Comitter:

shatari

Date:

Fri Dec 10 14:02:27 2021 +0000

Parent:

2:0668932f9d5d

Commit message:

a

Changed in this revision

diff -r 0668932f9d5d -r 634166991b10 CalPID.cpp
--- a/CalPID.cpp	Thu Mar 18 12:29:04 2021 +0000
+++ b/CalPID.cpp	Fri Dec 10 14:02:27 2021 +0000
@@ -39,8 +39,10 @@
 
     deviation_old = devia_present;
 
+    value_PID = present_parameter;
     return value_PID;
 }
+
 double CalPID::calPD(double devia_present)
 {
     double differential = (deviation_old - devia_present) / delta_t;

diff -r 0668932f9d5d -r 634166991b10 CalPID.h
--- a/CalPID.h	Thu Mar 18 12:29:04 2021 +0000
+++ b/CalPID.h	Fri Dec 10 14:02:27 2021 +0000
@@ -12,11 +12,14 @@
     double max_pid;
 
 public:
+    double present_parameter;
+    
     CalPID(double kp_, double ki_, double kd_,double dt, double max);//PIDの係数３つ（PDの場合でもI=0とかにして３つ）制御周期、、最大値
     void setParameter(double kp_, double ki_, double kd_);
     void setMaxValue(double max);
     void setDELTA_T(double delta_time);
     double calPID(double devia_present);
+    double getPresentPID();
     double calPD(double devia_present);
     double calPI_D(double devia_present,double present_value);//微分先行型PID
     double calP_D(double devia_present,double present_value);//微分先行型PD